/**
* Dispatches attached callbacks based on command
*/
void CmdMessenger::handleMessage()
{
lastCommandId = readIntArg();
// if command attached, we will call it
if (lastCommandId >= 0 && lastCommandId < MAXCALLBACKS && ArgOk && callbackList[lastCommandId] != NULL)
(*callbackList[lastCommandId])();
else // If command not attached, call default callback (if attached)
if (default_callback!=NULL) (*default_callback)();
}
/**
* Processes a byte and determines if an acknowlegde has come in
*/
bool CmdMessenger::processAndWaitForAck(int serialByte, int AckCommand)
{
//*comms << "1, processAndWaitForAck,";
int messageState = processLine(serialByte);
if ( messageState == kEndOfMessage ) {
int id = readIntArg();
if (AckCommand==id && ArgOk) {
//*comms << " matched! ;" << endl;
return true;
} else {
//*comms << " unmatched;" << endl;
return false;
}
}
//*comms << "No command;" << endl;
return false;
}
/**
* Loops as long data is available to determine if acknowledge has come in
*/
bool CmdMessenger::CheckForAck(int AckCommand)
{
while ( comms->available() ) {
//Processes a byte and determines if an acknowlegde has come in
int messageState = processLine(comms->read());
if ( messageState == kEndOfMessage ) {
int id = readIntArg();
if (AckCommand==id && ArgOk) {
return true;
} else {
return false;
}
}
return false;
}
return false;
}
/**
* Read the next argument as bool
*/
bool CmdMessenger::readBoolArg()
{
return (readIntArg()!=0)?true:false;
}
